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Car port: AP1 Tesla Model S (#21444) 

* Adding AP1 for tesla

* Remove safetyparams and added more extensive fingerprint

* merge interface for AP1 and AP2
pull/21513/head
kennedyshead 2021-07-07 21:40:10 +02:00 committed by GitHub
parent d101000852
commit d9c749c118
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 11 additions and 2 deletions
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2
selfdrive/car/tesla/interface.py
View File

@ -30,7 +30,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
if candidate == CAR.AP2_MODELS:
if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
ret.mass = 2100. + STD_CARGO_KG
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5

10
selfdrive/car/tesla/values.py
View File

@ -8,6 +8,7 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
class CAR:
AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S'
FINGERPRINTS = {
@ -16,10 +17,16 @@ FINGERPRINTS = {
1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
},
],
CAR.AP1_MODELS: [
{
1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 357: 8, 360: 7, 373: 8, 389: 8, 390: 7, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 523: 7, 524: 8, 525: 4, 526: 8, 527: 8, 529: 8, 532: 3, 536: 8, 537: 3, 539: 8, 542: 8, 545: 8, 546: 2, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 3, 665: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 771: 2, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 780: 2, 781: 8, 782: 8, 783: 8, 785: 8, 787: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 831: 8, 836: 8, 840: 8, 841: 8, 843: 8, 845: 8, 846: 5, 849: 8, 852: 8, 853: 8, 856: 4, 857: 5, 859: 8, 861: 8, 862: 5, 863: 8, 872: 8, 873: 8, 875: 8, 877: 8, 878: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 889: 8, 893: 8, 894: 8, 896: 8, 901: 6, 904: 3, 905: 8, 907: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 970: 8, 973: 8, 977: 8, 984: 8, 986: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1019: 5, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1035: 6, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1291: 8, 1307: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1339: 2, 1361: 6, 1362: 6, 1368: 8, 1412: 8, 1436: 8, 1456: 8, 1463: 8, 1465: 8, 1469: 8, 1476: 8, 1486: 8, 1497: 8, 1519: 8, 1521: 8, 1524: 8, 1527: 8, 1593: 8, 1601: 8, 1605: 8, 1609: 8, 1610: 2, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1625: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
},
],
}
DBC = {
CAR.AP2_MODELS: dbc_dict(None, 'tesla_radar', chassis_dbc='tesla_can'),
CAR.AP1_MODELS: dbc_dict(None, 'tesla_radar', chassis_dbc='tesla_can'),
}
class CANBUS:
@ -50,4 +57,5 @@ BUTTONS = [
class CarControllerParams:
RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])

1
selfdrive/test/test_routes.py
View File

@ -167,6 +167,7 @@ routes = [
TestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
TestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
TestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
TestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
]